CN111222586B - Inclined image matching method and device based on three-dimensional inclined model visual angle - Google Patents
Inclined image matching method and device based on three-dimensional inclined model visual angle Download PDFInfo
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Abstract
The invention discloses a tilt image matching method and a device based on a three-dimensional tilt model view angle, wherein the method comprises the following steps: obtaining query parameters, wherein the query parameters comprise: the name of the layer where the inclined model is located, the position coordinate of the inclined model, the azimuth angle of the inclined model view angle and the inclination angle of the inclined model view angle; screening an oblique image database according to the query parameters so as to screen an oblique image matched with the query parameters; the screening operation comprises the following steps: an inclination angle screening step, an azimuth angle screening step, a distance screening step and a relative azimuth angle screening step. The method can quickly match the corresponding oblique images according to the relevant parameters of the three-dimensional oblique model visual angle, and realizes the dynamic linkage display of the scene oblique model and the original oblique aviation images.
Description
Technical Field
The invention relates to the technical field of three-dimensional tilt models, in particular to a tilt image matching method and device based on a three-dimensional tilt model view angle.
Background
The oblique photography technology is a high and new technology developed in the international photogrammetry field in the last ten years, and acquires abundant high-resolution textures of the top surface and the side view of a building by synchronously acquiring images from a vertical angle, four oblique angles and five different visual angles. The method can truly reflect the ground and object conditions, acquire object texture information with high precision, and generate a real three-dimensional city model through advanced positioning, fusion, modeling and other technologies. By utilizing the image recognition technology, a group of pictures shot at the same position of the three-dimensional model at the visual angle of a specific position corresponding to the airplane during aerial photography can be effectively found out, so that the surrounding environment of the model is mapped.
Although the method for searching the corresponding oblique image by using the image recognition technology can accurately match the target photo, the oblique photo generated during the aerial photography of the airplane is massive, so that the image recognition process is long and the real-time requirement is difficult to meet.
Disclosure of Invention
In order to overcome the defects of the prior art, an object of the present invention is to provide a tilt image matching method based on a three-dimensional tilt model view angle, which can quickly match a corresponding tilt image according to related parameters of the three-dimensional tilt model view angle, and realize dynamic linkage display of a scene tilt model and an original tilt aerial image.
The second objective of the present invention is to provide an electronic device, which can rapidly match the corresponding tilted image according to the related parameters of the viewing angle of the three-dimensional tilted model, so as to realize the dynamic linkage display of the scene tilted model and the original tilted aerial image.
The invention also provides a computer readable storage medium, and a program in the storage medium can quickly match a corresponding inclined image according to related parameters of a three-dimensional inclined model view angle when running, so as to realize dynamic linkage display of a scene inclined model and an original inclined aviation image.
One of the purposes of the invention is realized by adopting the following technical scheme:
a tilt image matching method based on a three-dimensional tilt model view angle comprises the following steps:
obtaining query parameters, wherein the query parameters comprise: the name of the layer where the inclined model is located, the position coordinate of the inclined model, the azimuth angle of the inclined model view angle and the inclination angle of the inclined model view angle;
screening an oblique image database according to the query parameters so as to obtain oblique image information matched with the query parameters through screening;
the screening operation comprises the following steps:
and (3) screening the inclined angle:
judging whether the inclination angle of the inclination model visual angle is larger than or equal to n, wherein the range of n is [75 degrees ], 90 degrees ];
if so, acquiring an orthoscopic oblique image from an oblique image library according to the name of the layer where the oblique model is located and performing a distance screening step on the orthoscopic oblique image;
if not, acquiring other oblique images except the orthoscopic oblique image from an oblique image library according to the name of the layer where the oblique model is located, and performing an azimuth angle screening step on the acquired oblique images;
azimuth screening:
screening out an inclined image of which the azimuth angle meets the azimuth angle screening condition from the inclined images acquired in the inclined angle screening step; the azimuth screening conditions are as follows: the azimuth angle of the oblique image is less than or equal to Yaw-Tolerancel and less than or equal to Yaw + Tolerancel; wherein, Yaw is the azimuth angle of the three-dimensional model visual angle, and Tolerance1 is the Tolerance;
performing a distance screening step on the oblique images meeting the azimuth angle screening formula;
distance screening:
calculating the distance between the center point of each inclined image group and the inclined model, which is obtained by screening in the inclined angle screening step or the azimuth angle screening step;
calculating the radius of an outer circle of each inclined image group obtained by screening in the inclined angle screening step or the azimuth angle screening step;
screening an inclined image group of which the distance between the center point of the inclined image group and the inclined model is less than or equal to the radius of an outer circle of the inclined image group, and performing a relative azimuth angle screening step on the screened inclined image group;
screening relative azimuth angles:
calculating the relative azimuth angle between the central point of the inclined image group obtained by screening in the distance screening step and the position of the inclined model;
screening an oblique image of which the azimuth angle of the oblique image meets the relative azimuth angle screening condition from an oblique image group obtained by screening in the distance screening step, wherein the relative azimuth angle screening condition is as follows:
yaw 2-Tolerance 2 is less than or equal to the azimuth angle of the inclined image is less than or equal to Yaw2+ Tolerance2,
wherein, Yaw2 is the relative azimuth angle between the center point of the tilted image set and the position of the tilted model, and Tolerance2 is the Tolerance.
Further, the distance between the central point of the oblique image group and the oblique model is calculated by the following formula:
wherein, the position coordinates of the tilt model are: (BulidingPositionX, BulidingPositionY), the coordinates of the center point of the tilted image group are: (ImageGroupX, ImageGroupY).
Further, the radius of the outer circle is calculated by the following formula:
further, the relative azimuth is calculated by the following formula:
Yaw2＝arctan((BulidingPositionY-ImageGroupY)/(BulidingPositionX-ImageG roupX))，
wherein, the position coordinates of the tilt model are: (BulidingPositionX, BulidingPositionY), the coordinates of the center point of the tilted image group are: (ImageGroupX, ImageGroupY).
Further, the data information carried by each oblique image in the oblique image library includes: the unique identification of the oblique image, the file path of the oblique image, the group of the oblique image, the serial number of the oblique camera and the central point coordinate of the group of the oblique image.
The second purpose of the invention is realized by adopting the following technical scheme:
an electronic device comprising a processor and a memory, wherein the memory stores an executable computer program, and the processor can read the computer program in the memory and operate to implement the three-dimensional oblique model view angle-based oblique image matching method as described above.
The third purpose of the invention is realized by adopting the following technical scheme:
a computer-readable storage medium, in which an executable computer program is stored, which when running can implement the above-mentioned tilt image matching method based on a three-dimensional tilt model view angle.
Compared with the prior art, the invention has the beneficial effects that:
the oblique image matching method based on the three-dimensional oblique model visual angle can quickly match the corresponding oblique images according to the relevant parameters (the name of the layer where the oblique model is located, the position coordinates of the oblique model, the azimuth angle of the oblique model visual angle and the oblique angle of the oblique model visual angle) of the three-dimensional oblique model visual angle, and quickly screen the oblique images. Compared with a mode of matching by utilizing image identification, the method can quickly match the inclined image corresponding to the visual angle of the inclined model selected by the current scene, has shorter time delay, can realize dynamic linkage display of the scene inclined model and the original inclined aviation flying image, and meets the real-time requirement.
Drawings
Fig. 1 is a schematic flow chart of a tilt image matching method based on a three-dimensional tilt model view angle according to the present invention;
fig. 2 is a schematic diagram illustrating a tilted photography imaging rule in a tilted image matching method based on a three-dimensional tilted model view angle according to the present invention;
fig. 3 is a schematic diagram of an inclination angle of a three-dimensional model view in an oblique image matching method based on a three-dimensional oblique model view according to the present invention;
fig. 4 is a schematic view of an azimuth angle of a three-dimensional model view in the tilted image matching method based on the three-dimensional tilted model view according to the present invention, wherein the azimuth angle of a scene view is equal to the azimuth angle of the three-dimensional model view;
fig. 5 is a schematic diagram of distance screening in the oblique image matching method based on the three-dimensional oblique model view angle provided by the present invention, in which the radius of the circle in the diagram is the buffer distance, i.e. the radius of the outer circle of the oblique image group;
fig. 6 is a schematic diagram of a relative azimuth angle in a tilted image matching method based on a three-dimensional tilted model view angle according to the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Referring to fig. 1 to 6, a method for matching a tilted image based on a three-dimensional tilted model view angle includes the following steps:
obtaining query parameters, wherein the query parameters comprise: the name of the layer where the inclined model is located, the position coordinate of the inclined model, the azimuth angle of the inclined model view angle and the inclination angle of the inclined model view angle;
screening an oblique image database according to the query parameters so as to obtain oblique image information matched with the query parameters through screening;
the screening operation comprises the following steps:
and (3) screening the inclined angle:
judging whether the inclination angle of the inclination model visual angle is larger than or equal to n, wherein the range of n is [75 degrees ], 90 degrees ];
if so, acquiring an orthoscopic oblique image from an oblique image library according to the name of the layer where the oblique model is located and performing a distance screening step on the orthoscopic oblique image;
if not, acquiring other oblique images except the orthoscopic oblique image from an oblique image library according to the name of the layer where the oblique model is located, and performing an azimuth angle screening step on the acquired oblique images;
azimuth screening:
screening out an inclined image of which the azimuth angle meets the azimuth angle screening condition from the inclined images acquired in the inclined angle screening step; the azimuth screening conditions are as follows: the azimuth angle of the oblique image is less than or equal to Yaw-Tolerancel and less than or equal to Yaw + Tolerancel;
wherein, Yaw is the azimuth angle of the three-dimensional model visual angle, and Tolerance1 is the Tolerance;
performing a distance screening step on the oblique images meeting the azimuth angle screening formula;
distance screening:
calculating the distance between the center point of each inclined image group and the inclined model, which is obtained by screening in the inclined angle screening step or the azimuth angle screening step;
calculating the radius of an outer circle of each inclined image group obtained by screening in the inclined angle screening step or the azimuth angle screening step;
screening an inclined image group of which the distance between the center point of the inclined image group and the inclined model is less than or equal to the radius of an outer circle of the inclined image group, and performing a relative azimuth angle screening step on the screened inclined image group;
screening relative azimuth angles:
calculating the relative azimuth angle between the central point of the inclined image group obtained by screening in the distance screening step and the position of the inclined model;
screening an oblique image of which the azimuth angle of the oblique image meets the relative azimuth angle screening condition from an oblique image group obtained by screening in the distance screening step, wherein the relative azimuth angle screening condition is as follows:
yaw 2-Tolerance 2 is less than or equal to the azimuth angle of the inclined image is less than or equal to Yaw2+ Tolerance2,
wherein, Yaw2 is the relative azimuth angle between the center point of the tilted image set and the position of the tilted model, and Tolerance2 is the Tolerance.
The oblique image matching method based on the three-dimensional oblique model visual angle can quickly match the corresponding oblique images according to the relevant parameters (the name of the layer where the oblique model is located, the position coordinates of the oblique model, the azimuth angle of the oblique model visual angle and the oblique angle of the oblique model visual angle) of the three-dimensional oblique model visual angle, and quickly screen the oblique images; by the method, the oblique images corresponding to the visual angles of the oblique models selected by the current scene can be quickly matched, the scene oblique models and the original oblique aviation images are dynamically displayed in a linkage manner, and the real-time requirement is met.
Specifically, the distance between the center point of the oblique image group and the oblique model is calculated by the following formula:
wherein, the position coordinates of the tilt model are: (BulidingPositionX, BulidingPositionY), the coordinates of the center point of the tilted image group are: (ImageGroupX, ImageGroupY).
The radius of the outer circle is calculated by the following formula:
the relative azimuth is calculated by the following formula:
yaw2 ═ arctan ((building position y-imagegroup y)/(building position x-ImageG roupX)), where the position coordinates of the tilt model are: (BulidingPositionX, BulidingPositionY), the coordinates of the center point of the tilted image group are: (ImageGroupX, ImageGroupY).
Specifically, the data information carried by each oblique image in the oblique image library includes: the unique identification of the oblique image, the file path of the oblique image, the group of the oblique image, the serial number of the oblique camera and the central point coordinate of the group of the oblique image.
The oblique image database is constructed as follows:
the oblique images are stored according to a preset oblique image data structure model so as to form an oblique image library, and the oblique image data structure model is as follows:
| name of field | Type of field | Remarks for note |
| Id | NVARchar2(255) | Unique identifier for inclined image |
| ImagePath | NVARchar2(255) | Tilting image file path |
| ImageGroup | NUMBER | Oblique image group |
| PhotoGroup | NUMBER | Camera number |
| ImageGroupX | NUMBER | Center point X coordinate of inclined image group |
| ImageGroupY | NUMBER | Y coordinate of central point of inclined image group |
| ImageYaw | NUMBER | Azimuth angle of oblique image |
Specifically, the information of each oblique image can be obtained from the original oblique image data information file as follows:
oblique image unique identification (corresponding data model Id attribute);
the oblique image file path (corresponding to the data model ImagePath attribute);
an oblique image group (corresponding to the ImageGroup attribute of the data model) (which indicates that each shooting in the flight of the unmanned aerial vehicle generates a group of oblique images, and each oblique image in the group corresponds to an image shot by a camera);
the number of the associated oblique photography camera (corresponding to the photo group attribute of the data model) (stating that a number corresponds to the photography camera of an unmanned plane, and the shooting direction of the photography camera is fixed relative to the navigation direction of the unmanned plane);
oblique image group center coordinate point X, Y (corresponding to data model imagegroup X attribute, imagegroup Y attribute).
Note that the oblique image azimuth (corresponding to the oblique image data model ImageYaw attribute) is calculated:
since the oblique image groups are numbered and the images are consecutive, for example, the next image group corresponding to the 001 image group is 002 group, the navigation direction of the drone when shooting the nth image group can be expressed as: angle (sailing direction) ═ arctan ((Yn +1) -Yn/(Xn +1) -Xn);
according to the oblique photography imaging rule shown in fig. 2, the oblique image imaging sight line direction is fixed relative to the unmanned aerial vehicle navigation direction, namely: the shooting direction of the camera with the number of 1 is right ahead of the navigation direction, and the azimuth Angle (ImageYaw) of the shot inclined image is consistent with the navigation direction (Angle); the camera shooting direction with the number of 2 is right and right of the navigation direction, the azimuth Angle (ImageYaw) of the shot oblique image is the navigation direction (Angle) +90 degrees, the camera shooting direction with the number of 3 is right and back of the navigation direction, the azimuth Angle (ImageYaw) of the shot oblique image is the navigation direction (Angle) +180 degrees, the camera shooting direction with the number of 4 is right and left of the navigation direction, the azimuth Angle (ImageYaw) of the shot oblique image is the navigation direction (Angle) +270 degrees, the camera shooting direction with the number of 5 is right and below of the navigation direction, and the azimuth Angle (ImageYaw) of the shot oblique image is 0 degrees; when n is the last group of image groups, the directions of the images in the image groups are expressed by n-1 group directions.
The invention also provides an electronic device, which comprises a processor and a memory, wherein the memory stores an executable computer program, and the processor can read the computer program in the memory and operate to realize the three-dimensional tilt model view angle-based tilt image matching method.
In addition, the present invention also provides a computer readable storage medium, which stores an executable computer program, and when the computer program runs, the method for matching a tilted image based on a three-dimensional tilted model view angle as described above can be implemented.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (7)
1. A tilt image matching method based on a three-dimensional tilt model view angle is characterized by comprising the following steps:
obtaining query parameters, wherein the query parameters comprise: the name of the layer where the inclined model is located, the position coordinate of the inclined model, the azimuth angle of the inclined model view angle and the inclination angle of the inclined model view angle;
screening an oblique image database according to the query parameters so as to screen an oblique image matched with the query parameters;
the screening operation comprises the following steps:
and (3) screening the inclined angle:
judging whether the inclination angle of the inclination model visual angle is larger than or equal to n, wherein the range of n is [75 degrees ], 90 degrees ];
if so, acquiring an orthoscopic oblique image from an oblique image library according to the name of the layer where the oblique model is located and performing a distance screening step on the orthoscopic oblique image;
if not, acquiring other oblique images except the orthoscopic oblique image from an oblique image library according to the name of the layer where the oblique model is located, and performing an azimuth angle screening step on the acquired oblique images;
azimuth screening:
screening out an inclined image of which the azimuth angle meets the azimuth angle screening condition from the inclined images acquired in the inclined angle screening step; the azimuth screening conditions are as follows: the azimuth angle of the inclined image is not less than Yaw-Tolerance1 and not more than Yaw + Tolerance 1;
wherein, Yaw is the azimuth angle of the three-dimensional model visual angle, and Tolerance1 is the Tolerance;
performing a distance screening step on the oblique images meeting the azimuth angle screening formula;
distance screening:
calculating the distance between the center point of each inclined image group and the inclined model, which is obtained by screening in the inclined angle screening step or the azimuth angle screening step;
calculating the radius of an outer circle of each inclined image group obtained by screening in the inclined angle screening step or the azimuth angle screening step;
screening an inclined image group of which the distance between the center point of the inclined image group and the inclined model is less than or equal to the radius of an outer circle of the inclined image group, and performing a relative azimuth angle screening step on the screened inclined image group;
screening relative azimuth angles:
calculating the relative azimuth angle between the central point of the inclined image group obtained by screening in the distance screening step and the position of the inclined model;
screening an oblique image of which the azimuth angle of the oblique image meets the relative azimuth angle screening condition from an oblique image group obtained by screening in the distance screening step, wherein the relative azimuth angle screening condition is as follows:
yaw 2-Tolerance 2 is less than or equal to the azimuth angle of the inclined image is less than or equal to Yaw2+ Tolerance2,
wherein, Yaw2 is the relative azimuth angle between the center point of the tilted image set and the position of the tilted model, and Tolerance2 is the Tolerance.
2. The method for matching a tilted image based on a three-dimensional tilted model viewing angle according to claim 1, wherein the distance between the tilted image group center point and the tilted model is calculated by the following formula:
wherein, the position coordinates of the tilt model are: (BulidingPositionX, BulidingPositionY), the coordinates of the center point of the tilted image group are: (ImageGroupX, ImageGroupY).
3. The method for matching a tilted image based on a three-dimensional tilted model view angle according to claim 1, wherein the radius of the outer circle is calculated by the following formula:
4. the method for matching tilted images based on three-dimensional tilted model view angle according to claim 1, wherein the relative azimuth angle is calculated by the following formula:
Yaw2＝arctan((BulidingPositionY-ImageGroupY)/(BulidingPositionX-ImageGroupX))，
wherein, the position coordinates of the tilt model are: (BulidingPositionX, BulidingPositionY), the coordinates of the center point of the tilted image group are: (ImageGroupX, ImageGroupY).
5. The method for matching tilted images based on three-dimensional tilted model view angle according to any one of claims 1 to 4, wherein the data information carried by each tilted image in the tilted image library comprises: the unique identification of the oblique image, the file path of the oblique image, the group of the oblique image, the serial number of the oblique camera and the central point coordinate of the group of the oblique image.
6. An electronic device, comprising a processor and a memory, wherein the memory stores an executable computer program, and the processor can read the computer program in the memory and operate to implement the method for matching a tilted image based on a three-dimensional tilted model view according to any one of claims 1 to 5.
7. A computer-readable storage medium, wherein the computer-readable storage medium stores an executable computer program, and when the computer program runs, the method for matching a tilted image based on a three-dimensional tilted model view according to any one of claims 1 to 5 is implemented.
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